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<div class="title">ia_fpcs.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (C) 2008 Ben Gurion University of the Negev, Beer Sheva, Israel.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions are met</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_IA_FPCS_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_IA_FPCS_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/matching_candidate.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  getMeanPointDensity (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud, <span class="keywordtype">float</span> max_dist, <span class="keywordtype">int</span> nr_threads = 1);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  getMeanPointDensity (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud, <span class="keyword">const</span> std::vector &lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">float</span> max_dist, <span class="keywordtype">int</span> nr_threads = 1);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> NormalT = pcl::Normal, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html">   77</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html">FPCSInitialAlignment</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_registration.html">Registration</a> &lt;PointSource, PointTarget, Scalar&gt;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr &lt;FPCSInitialAlignment &lt;PointSource, PointTarget, NormalT, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr &lt;const FPCSInitialAlignment &lt;PointSource, PointTarget, NormalT, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTreeReciprocal</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> KdTreeReciprocal::Ptr KdTreeReciprocalPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointSource&gt;</a> PointCloudSource;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::iterator PointCloudSourceIterator;      </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;NormalT&gt;</a> Normals;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Normals::ConstPtr NormalsConstPtr;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1registration_1_1_matching_candidate.html">pcl::registration::MatchingCandidate</a> <a class="code" href="structpcl_1_1registration_1_1_matching_candidate.html">MatchingCandidate</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> pcl::registration::MatchingCandidates MatchingCandidates;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa7d70d10a9c44c2f1ffa575c8c657da6">FPCSInitialAlignment</a> ();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a9db7b47e57d9d8a632576a999c3a3f2c">  107</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a9db7b47e57d9d8a632576a999c3a3f2c">~FPCSInitialAlignment</a> ()</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      {};</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab46e5073a10bc995892851dacfb08b9b">  115</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab46e5073a10bc995892851dacfb08b9b">setTargetIndices</a> (<span class="keyword">const</span> IndicesPtr &amp;target_indices)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a59d3bd4a7820b1ae65edf07dc600518e">target_indices_</a> = target_indices;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      };</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">inline</span> IndicesPtr</div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a85d2bad3d4e64d1f1ba785811e29e012">  122</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a85d2bad3d4e64d1f1ba785811e29e012">getTargetIndices</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a59d3bd4a7820b1ae65edf07dc600518e">target_indices_</a>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      };</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a9d5b57625988fd5c3bf4a9d5c21c85c6">  132</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a9d5b57625988fd5c3bf4a9d5c21c85c6">setSourceNormals</a> (<span class="keyword">const</span> NormalsConstPtr &amp;source_normals)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a58a3035634e2177a521437b7242e7e5f">source_normals_</a> = source_normals;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      };</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">inline</span> NormalsConstPtr</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa0e95c127d6ff418e4984919fb7f1005">  139</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa0e95c127d6ff418e4984919fb7f1005">getSourceNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a58a3035634e2177a521437b7242e7e5f">source_normals_</a>);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      };</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a026d369a066582d669a5591a682cc040">  149</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a026d369a066582d669a5591a682cc040">setTargetNormals</a> (<span class="keyword">const</span> NormalsConstPtr &amp;target_normals)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a584efd5f1587d8bbdca3b2c5de69b25d">target_normals_</a> = target_normals;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      };</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">inline</span> NormalsConstPtr</div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa17c6751d2fb08647ffbcbfbbba4e32e">  156</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa17c6751d2fb08647ffbcbfbbba4e32e">getTargetNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a584efd5f1587d8bbdca3b2c5de69b25d">target_normals_</a>);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      };</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab9b80f921aadde46ed70b43f4532d667">  166</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab9b80f921aadde46ed70b43f4532d667">setNumberOfThreads</a> (<span class="keywordtype">int</span> nr_threads)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a79ee6d98864fca46bc61903e8b609120">nr_threads_</a> = nr_threads;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      };</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a131f83c6bcfabdba77e755bdb67a5953">  173</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a131f83c6bcfabdba77e755bdb67a5953">getNumberOfThreads</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a79ee6d98864fca46bc61903e8b609120">nr_threads_</a>);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      };</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aec7f1feeb435aa54f101d2e7bbd72f21">  184</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aec7f1feeb435aa54f101d2e7bbd72f21">setDelta</a> (<span class="keywordtype">float</span> delta, <span class="keywordtype">bool</span> normalize = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a220d5b152bbde5a585be5d7f3228fe24">delta_</a> = delta;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a4e4cdf295813f3638c368db57c94de36">normalize_delta_</a> = normalize;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      };</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab36ed0e1cc87ec8a08ae2f0bb98025ae">  192</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab36ed0e1cc87ec8a08ae2f0bb98025ae">getDelta</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a220d5b152bbde5a585be5d7f3228fe24">delta_</a>);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      };</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#abc0d762f0db804c6cb9bf920d40cc489">  202</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#abc0d762f0db804c6cb9bf920d40cc489">setApproxOverlap</a> (<span class="keywordtype">float</span> approx_overlap)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a68e2113bbe29d792687e75ba5356c95e">approx_overlap_</a> = approx_overlap;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      };</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab96ec3601da6099b68eaf6f717d065c8">  209</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab96ec3601da6099b68eaf6f717d065c8">getApproxOverlap</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a68e2113bbe29d792687e75ba5356c95e">approx_overlap_</a>);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      };</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a4fba9748dd98686d0008fbef54a9b5f4">  219</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a4fba9748dd98686d0008fbef54a9b5f4">setScoreThreshold</a> (<span class="keywordtype">float</span> score_threshold)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad781377604c1837191309b7e2d7f21be">score_threshold_</a> = score_threshold;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      };</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a78bb7383b970ab1506467cb4f56ad52e">  226</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a78bb7383b970ab1506467cb4f56ad52e">getScoreThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad781377604c1837191309b7e2d7f21be">score_threshold_</a>);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      };</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2824fb50e0505f063b34b4b4025d0b3d">  236</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2824fb50e0505f063b34b4b4025d0b3d">setNumberOfSamples</a> (<span class="keywordtype">int</span> nr_samples)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a687508b1d693488cbf0d8d44fe88ad27">nr_samples_</a> = nr_samples;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      };</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a253131c45e83164d20c55fdab9048381">  243</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a253131c45e83164d20c55fdab9048381">getNumberOfSamples</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a687508b1d693488cbf0d8d44fe88ad27">nr_samples_</a>);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      };</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a5a9a5e68448776b198ca6ab7de3f9a15">  253</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a5a9a5e68448776b198ca6ab7de3f9a15">setMaxNormalDifference</a> (<span class="keywordtype">float</span> max_norm_diff)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a86d337480d265ecec717c579f9d31e0b">max_norm_diff_</a> = max_norm_diff;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      };</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aaf0bead72f8615e1b2a1c95d9fde56e9">  260</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aaf0bead72f8615e1b2a1c95d9fde56e9">getMaxNormalDifference</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a86d337480d265ecec717c579f9d31e0b">max_norm_diff_</a>);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      };</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab3d8c0104ac8609d0339a93eeecc4122">  270</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab3d8c0104ac8609d0339a93eeecc4122">setMaxComputationTime</a> (<span class="keywordtype">int</span> max_runtime)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad40457d6fb0195815064f07bb391bdb8">max_runtime_</a> = max_runtime;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      };</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a8db91266814752951a372d4e5e54dab2">  277</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a8db91266814752951a372d4e5e54dab2">getMaxComputationTime</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad40457d6fb0195815064f07bb391bdb8">max_runtime_</a>);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      };</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a40426ed25237b5919e3a4697a81a8da6">  285</a></span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a40426ed25237b5919e3a4697a81a8da6">getFitnessScore</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a93851bad9405a293cc58177956b77858">fitness_score_</a>);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      };</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointSource&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointSource&gt;::input_</a>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointSource&gt;::indices_</a>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::target_</a>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::tree_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::correspondences_</a>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::target_cloud_updated_</a>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::ransac_iterations_</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::transformation_estimation_</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration &lt;PointSource, PointTarget, Scalar&gt;::converged_</a>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab2c4309ae91b6c3bc6f5480cad22ec67">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Eigen::Matrix4f&amp; guess);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#af9a399e9cc72e413f9ce769ce4896e10">initCompute</a> ();</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac34b9f119a6d69a1b7a646bdb8e8dace">selectBase</a> (std::vector &lt;int&gt; &amp;base_indices, <span class="keywordtype">float</span> (&amp;ratio)[2]);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a16ab9f8757cec569bb0f38544141df7f">selectBaseTriangle</a> (std::vector &lt;int&gt; &amp;base_indices);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a607d3bf724f8304008a8e35a6b0a64c8">setupBase</a> (std::vector &lt;int&gt; &amp;base_indices, <span class="keywordtype">float</span> (&amp;ratio)[2]);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac421e4c56100d9e5a2355252eb9a3643">segmentToSegmentDist</a> (<span class="keyword">const</span> std::vector &lt;int&gt; &amp;base_indices, <span class="keywordtype">float</span> (&amp;ratio)[2]);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a1392b97316249b70eddde0428ca317c9">bruteForceCorrespondences</a> (<span class="keywordtype">int</span> idx1, <span class="keywordtype">int</span> idx2, pcl::Correspondences &amp;pairs);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a37b21d4669718973b6ab1aa8936a1704">determineBaseMatches</a> (</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keyword">const</span> std::vector &lt;int&gt; &amp;base_indices,</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        std::vector &lt;std::vector &lt;int&gt; &gt; &amp;matches,</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        <span class="keyword">const</span> pcl::Correspondences &amp;pairs_a,</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="keyword">const</span> pcl::Correspondences &amp;pairs_b,</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> (&amp;ratio)[2]);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac6ccba63325f96f5e38fc065b0897ea3">checkBaseMatch</a> (<span class="keyword">const</span> std::vector &lt;int&gt; &amp;match_indices, <span class="keyword">const</span> <span class="keywordtype">float</span> (&amp;ds)[4]);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a0d59c76f9a58f59caf2b63e377aca6bb">handleMatches</a> (</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        <span class="keyword">const</span> std::vector &lt;int&gt; &amp;base_indices,</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        std::vector &lt;std::vector &lt;int&gt; &gt; &amp;matches,</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        MatchingCandidates &amp;candidates);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab5b94e6b02f11c17f4b10af2c89f6228">linkMatchWithBase</a> (</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keyword">const</span> std::vector &lt;int&gt; &amp;base_indices,</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        std::vector &lt;int&gt; &amp;match_indices,</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        pcl::Correspondences &amp;correspondences);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac63173082b064d29ac50cee964ec930e">validateMatch</a> (</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        <span class="keyword">const</span> std::vector &lt;int&gt; &amp;base_indices,</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        <span class="keyword">const</span> std::vector &lt;int&gt; &amp;match_indices,</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        <span class="keyword">const</span> pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        Eigen::Matrix4f &amp;transformation);</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2e628406e7a4bfbc06754fc89da60c2b">validateTransformation</a> (Eigen::Matrix4f &amp;transformation, <span class="keywordtype">float</span> &amp;fitness_score);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a0182f309b73f20835d5ca7356fa167dc">finalCompute</a> (<span class="keyword">const</span> std::vector &lt;MatchingCandidates &gt; &amp;candidates);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a58a3035634e2177a521437b7242e7e5f">  472</a></span>&#160;      NormalsConstPtr <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a58a3035634e2177a521437b7242e7e5f">source_normals_</a>;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a584efd5f1587d8bbdca3b2c5de69b25d">  475</a></span>&#160;      NormalsConstPtr <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a584efd5f1587d8bbdca3b2c5de69b25d">target_normals_</a>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a79ee6d98864fca46bc61903e8b609120">  481</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a79ee6d98864fca46bc61903e8b609120">nr_threads_</a>;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a68e2113bbe29d792687e75ba5356c95e">  484</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a68e2113bbe29d792687e75ba5356c95e">approx_overlap_</a>;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a220d5b152bbde5a585be5d7f3228fe24">  491</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a220d5b152bbde5a585be5d7f3228fe24">delta_</a>;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00496"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad781377604c1837191309b7e2d7f21be">  496</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad781377604c1837191309b7e2d7f21be">score_threshold_</a>;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a687508b1d693488cbf0d8d44fe88ad27">  499</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a687508b1d693488cbf0d8d44fe88ad27">nr_samples_</a>;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a86d337480d265ecec717c579f9d31e0b">  502</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a86d337480d265ecec717c579f9d31e0b">max_norm_diff_</a>;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00505"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad40457d6fb0195815064f07bb391bdb8">  505</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad40457d6fb0195815064f07bb391bdb8">max_runtime_</a>;</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a93851bad9405a293cc58177956b77858">  509</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a93851bad9405a293cc58177956b77858">fitness_score_</a>;</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a956ffbdaf67cb8620b4d72a238b62e1c">  513</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a956ffbdaf67cb8620b4d72a238b62e1c">diameter_</a>;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2861efeafe48b0000b9c3f40929a41af">  520</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2861efeafe48b0000b9c3f40929a41af">max_base_diameter_sqr_</a>;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a03fa1f6c89845ab017cf48c04c2b40f4">  523</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a03fa1f6c89845ab017cf48c04c2b40f4">use_normals_</a>;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a4e4cdf295813f3638c368db57c94de36">  526</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a4e4cdf295813f3638c368db57c94de36">normalize_delta_</a>;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a6966b3505b739a38525a3aaeaeee99d9">  530</a></span>&#160;      pcl::IndicesPtr <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a6966b3505b739a38525a3aaeaeee99d9">source_indices_</a>;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a59d3bd4a7820b1ae65edf07dc600518e">  533</a></span>&#160;      pcl::IndicesPtr <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a59d3bd4a7820b1ae65edf07dc600518e">target_indices_</a>;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#abb0c5e68f41b871eea5c4a0190801aa3">  538</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#abb0c5e68f41b871eea5c4a0190801aa3">max_pair_diff_</a>;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a0fb2d738ed328e93f65073b0adb4ebbd">  543</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a0fb2d738ed328e93f65073b0adb4ebbd">max_edge_diff_</a>;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00548"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a29206ec46e704609c2dd41337e17407a">  548</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a29206ec46e704609c2dd41337e17407a">coincidation_limit_</a>;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a6828753c00b74ddbc3ffd58dd0028bef">  553</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a6828753c00b74ddbc3ffd58dd0028bef">max_mse_</a>;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a47552016a1a2acb533c95fd43f8b6167">  558</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a47552016a1a2acb533c95fd43f8b6167">max_inlier_dist_sqr_</a>;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac48c4fb7b4e3dbd410cc016129eb864a">  562</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac48c4fb7b4e3dbd410cc016129eb864a">small_error_</a>;</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    };</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  }; <span class="comment">// namespace registration  </span></div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;}; <span class="comment">// namespace pcl </span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/ia_fpcs.hpp&gt;</span></div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_REGISTRATION_IA_FPCS_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointTarget &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html">pcl::registration::FPCSInitialAlignment</a></div><div class="ttdoc">FPCSInitialAlignment computes corresponding four point congruent sets as described in: &quot;4-points cong...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a0182f309b73f20835d5ca7356fa167dc"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a0182f309b73f20835d5ca7356fa167dc">pcl::registration::FPCSInitialAlignment::finalCompute</a></div><div class="ttdeci">virtual void finalCompute(const std::vector&lt; MatchingCandidates &gt; &amp;candidates)</div><div class="ttdoc">Final computation of best match out of vector of best matches. To avoid cross thread dependencies dur...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:885</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a026d369a066582d669a5591a682cc040"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a026d369a066582d669a5591a682cc040">pcl::registration::FPCSInitialAlignment::setTargetNormals</a></div><div class="ttdeci">void setTargetNormals(const NormalsConstPtr &amp;target_normals)</div><div class="ttdoc">Provide a pointer to the normals of the target point cloud.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a03fa1f6c89845ab017cf48c04c2b40f4"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a03fa1f6c89845ab017cf48c04c2b40f4">pcl::registration::FPCSInitialAlignment::use_normals_</a></div><div class="ttdeci">bool use_normals_</div><div class="ttdoc">Use normals flag.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:523</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a0d59c76f9a58f59caf2b63e377aca6bb"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a0d59c76f9a58f59caf2b63e377aca6bb">pcl::registration::FPCSInitialAlignment::handleMatches</a></div><div class="ttdeci">virtual void handleMatches(const std::vector&lt; int &gt; &amp;base_indices, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;matches, MatchingCandidates &amp;candidates)</div><div class="ttdoc">Method to handle current candidate matches. Here we validate and evaluate the matches w....</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:724</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a0fb2d738ed328e93f65073b0adb4ebbd"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a0fb2d738ed328e93f65073b0adb4ebbd">pcl::registration::FPCSInitialAlignment::max_edge_diff_</a></div><div class="ttdeci">float max_edge_diff_</div><div class="ttdoc">Maximal difference between the length of the base edges and valid match edges.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:543</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a131f83c6bcfabdba77e755bdb67a5953"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a131f83c6bcfabdba77e755bdb67a5953">pcl::registration::FPCSInitialAlignment::getNumberOfThreads</a></div><div class="ttdeci">int getNumberOfThreads() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a1392b97316249b70eddde0428ca317c9"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a1392b97316249b70eddde0428ca317c9">pcl::registration::FPCSInitialAlignment::bruteForceCorrespondences</a></div><div class="ttdeci">virtual int bruteForceCorrespondences(int idx1, int idx2, pcl::Correspondences &amp;pairs)</div><div class="ttdoc">Search for corresponding point pairs given the distance between two base points.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:573</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a16ab9f8757cec569bb0f38544141df7f"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a16ab9f8757cec569bb0f38544141df7f">pcl::registration::FPCSInitialAlignment::selectBaseTriangle</a></div><div class="ttdeci">int selectBaseTriangle(std::vector&lt; int &gt; &amp;base_indices)</div><div class="ttdoc">Select randomly a triplet of points with large point-to-point distances. The minimum point sampling d...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:401</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a220d5b152bbde5a585be5d7f3228fe24"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a220d5b152bbde5a585be5d7f3228fe24">pcl::registration::FPCSInitialAlignment::delta_</a></div><div class="ttdeci">float delta_</div><div class="ttdoc">Delta value of 4pcs algorithm (standard = 1.0). It can be used as:</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:491</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a253131c45e83164d20c55fdab9048381"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a253131c45e83164d20c55fdab9048381">pcl::registration::FPCSInitialAlignment::getNumberOfSamples</a></div><div class="ttdeci">int getNumberOfSamples() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a2824fb50e0505f063b34b4b4025d0b3d"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2824fb50e0505f063b34b4b4025d0b3d">pcl::registration::FPCSInitialAlignment::setNumberOfSamples</a></div><div class="ttdeci">void setNumberOfSamples(int nr_samples)</div><div class="ttdoc">Set the number of source samples to use during alignment.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a2861efeafe48b0000b9c3f40929a41af"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2861efeafe48b0000b9c3f40929a41af">pcl::registration::FPCSInitialAlignment::max_base_diameter_sqr_</a></div><div class="ttdeci">float max_base_diameter_sqr_</div><div class="ttdoc">Estimated squared metric overlap between source and target.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:520</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a29206ec46e704609c2dd41337e17407a"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a29206ec46e704609c2dd41337e17407a">pcl::registration::FPCSInitialAlignment::coincidation_limit_</a></div><div class="ttdeci">float coincidation_limit_</div><div class="ttdoc">Maximal distance between coinciding intersection points to find valid matches.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:548</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a2e628406e7a4bfbc06754fc89da60c2b"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a2e628406e7a4bfbc06754fc89da60c2b">pcl::registration::FPCSInitialAlignment::validateTransformation</a></div><div class="ttdeci">virtual int validateTransformation(Eigen::Matrix4f &amp;transformation, float &amp;fitness_score)</div><div class="ttdoc">Validate the transformation by calculating the number of inliers after transforming the source cloud....</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:844</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a37b21d4669718973b6ab1aa8936a1704"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a37b21d4669718973b6ab1aa8936a1704">pcl::registration::FPCSInitialAlignment::determineBaseMatches</a></div><div class="ttdeci">virtual int determineBaseMatches(const std::vector&lt; int &gt; &amp;base_indices, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;matches, const pcl::Correspondences &amp;pairs_a, const pcl::Correspondences &amp;pairs_b, const float(&amp;ratio)[2])</div><div class="ttdoc">Determine base matches by combining the point pair candidate and search for coinciding intersection p...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:627</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a40426ed25237b5919e3a4697a81a8da6"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a40426ed25237b5919e3a4697a81a8da6">pcl::registration::FPCSInitialAlignment::getFitnessScore</a></div><div class="ttdeci">float getFitnessScore() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a47552016a1a2acb533c95fd43f8b6167"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a47552016a1a2acb533c95fd43f8b6167">pcl::registration::FPCSInitialAlignment::max_inlier_dist_sqr_</a></div><div class="ttdeci">float max_inlier_dist_sqr_</div><div class="ttdoc">Maximal squared point distance between source and target points to count as inlier.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:558</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a4e4cdf295813f3638c368db57c94de36"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a4e4cdf295813f3638c368db57c94de36">pcl::registration::FPCSInitialAlignment::normalize_delta_</a></div><div class="ttdeci">bool normalize_delta_</div><div class="ttdoc">Normalize delta flag.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:526</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a4fba9748dd98686d0008fbef54a9b5f4"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a4fba9748dd98686d0008fbef54a9b5f4">pcl::registration::FPCSInitialAlignment::setScoreThreshold</a></div><div class="ttdeci">void setScoreThreshold(float score_threshold)</div><div class="ttdoc">Set the scoring threshold used for early finishing the method.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a584efd5f1587d8bbdca3b2c5de69b25d"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a584efd5f1587d8bbdca3b2c5de69b25d">pcl::registration::FPCSInitialAlignment::target_normals_</a></div><div class="ttdeci">NormalsConstPtr target_normals_</div><div class="ttdoc">Normals of target point cloud.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a58a3035634e2177a521437b7242e7e5f"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a58a3035634e2177a521437b7242e7e5f">pcl::registration::FPCSInitialAlignment::source_normals_</a></div><div class="ttdeci">NormalsConstPtr source_normals_</div><div class="ttdoc">Normals of source point cloud.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a59d3bd4a7820b1ae65edf07dc600518e"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a59d3bd4a7820b1ae65edf07dc600518e">pcl::registration::FPCSInitialAlignment::target_indices_</a></div><div class="ttdeci">pcl::IndicesPtr target_indices_</div><div class="ttdoc">A pointer to the vector of target point indices to use after sampling.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:533</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a5a9a5e68448776b198ca6ab7de3f9a15"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a5a9a5e68448776b198ca6ab7de3f9a15">pcl::registration::FPCSInitialAlignment::setMaxNormalDifference</a></div><div class="ttdeci">void setMaxNormalDifference(float max_norm_diff)</div><div class="ttdoc">Set the maximum normal difference between valid point correspondences in degree.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a607d3bf724f8304008a8e35a6b0a64c8"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a607d3bf724f8304008a8e35a6b0a64c8">pcl::registration::FPCSInitialAlignment::setupBase</a></div><div class="ttdeci">void setupBase(std::vector&lt; int &gt; &amp;base_indices, float(&amp;ratio)[2])</div><div class="ttdoc">Setup the base (four coplanar points) by ordering the points and computing intersection ratios and se...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:436</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a6828753c00b74ddbc3ffd58dd0028bef"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a6828753c00b74ddbc3ffd58dd0028bef">pcl::registration::FPCSInitialAlignment::max_mse_</a></div><div class="ttdeci">float max_mse_</div><div class="ttdoc">Maximal mean squared errors of a transformation calculated from a candidate match.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:553</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a687508b1d693488cbf0d8d44fe88ad27"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a687508b1d693488cbf0d8d44fe88ad27">pcl::registration::FPCSInitialAlignment::nr_samples_</a></div><div class="ttdeci">int nr_samples_</div><div class="ttdoc">The number of points to uniformly sample the source point cloud. (standard = 0 =&gt; full cloud).</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:499</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a68e2113bbe29d792687e75ba5356c95e"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a68e2113bbe29d792687e75ba5356c95e">pcl::registration::FPCSInitialAlignment::approx_overlap_</a></div><div class="ttdeci">float approx_overlap_</div><div class="ttdoc">Estimated overlap between source and target (standard = 0.5).</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:484</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a6966b3505b739a38525a3aaeaeee99d9"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a6966b3505b739a38525a3aaeaeee99d9">pcl::registration::FPCSInitialAlignment::source_indices_</a></div><div class="ttdeci">pcl::IndicesPtr source_indices_</div><div class="ttdoc">A pointer to the vector of source point indices to use after sampling.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:530</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a78bb7383b970ab1506467cb4f56ad52e"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a78bb7383b970ab1506467cb4f56ad52e">pcl::registration::FPCSInitialAlignment::getScoreThreshold</a></div><div class="ttdeci">float getScoreThreshold() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a79ee6d98864fca46bc61903e8b609120"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a79ee6d98864fca46bc61903e8b609120">pcl::registration::FPCSInitialAlignment::nr_threads_</a></div><div class="ttdeci">int nr_threads_</div><div class="ttdoc">Number of threads for parallelization (standard = 1).</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:481</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a85d2bad3d4e64d1f1ba785811e29e012"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a85d2bad3d4e64d1f1ba785811e29e012">pcl::registration::FPCSInitialAlignment::getTargetIndices</a></div><div class="ttdeci">IndicesPtr getTargetIndices() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a86d337480d265ecec717c579f9d31e0b"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a86d337480d265ecec717c579f9d31e0b">pcl::registration::FPCSInitialAlignment::max_norm_diff_</a></div><div class="ttdeci">float max_norm_diff_</div><div class="ttdoc">Maximum normal difference of corresponding point pairs in degrees (standard = 90).</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:502</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a8db91266814752951a372d4e5e54dab2"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a8db91266814752951a372d4e5e54dab2">pcl::registration::FPCSInitialAlignment::getMaxComputationTime</a></div><div class="ttdeci">int getMaxComputationTime() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:277</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a93851bad9405a293cc58177956b77858"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a93851bad9405a293cc58177956b77858">pcl::registration::FPCSInitialAlignment::fitness_score_</a></div><div class="ttdeci">float fitness_score_</div><div class="ttdoc">Resulting fitness score of the best match.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:509</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a956ffbdaf67cb8620b4d72a238b62e1c"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a956ffbdaf67cb8620b4d72a238b62e1c">pcl::registration::FPCSInitialAlignment::diameter_</a></div><div class="ttdeci">float diameter_</div><div class="ttdoc">Estimated diamter of the target point cloud.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:513</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a9d5b57625988fd5c3bf4a9d5c21c85c6"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a9d5b57625988fd5c3bf4a9d5c21c85c6">pcl::registration::FPCSInitialAlignment::setSourceNormals</a></div><div class="ttdeci">void setSourceNormals(const NormalsConstPtr &amp;source_normals)</div><div class="ttdoc">Provide a pointer to the normals of the source point cloud.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_a9db7b47e57d9d8a632576a999c3a3f2c"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#a9db7b47e57d9d8a632576a999c3a3f2c">pcl::registration::FPCSInitialAlignment::~FPCSInitialAlignment</a></div><div class="ttdeci">virtual ~FPCSInitialAlignment()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_aa0e95c127d6ff418e4984919fb7f1005"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa0e95c127d6ff418e4984919fb7f1005">pcl::registration::FPCSInitialAlignment::getSourceNormals</a></div><div class="ttdeci">NormalsConstPtr getSourceNormals() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_aa17c6751d2fb08647ffbcbfbbba4e32e"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa17c6751d2fb08647ffbcbfbbba4e32e">pcl::registration::FPCSInitialAlignment::getTargetNormals</a></div><div class="ttdeci">NormalsConstPtr getTargetNormals() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_aa7d70d10a9c44c2f1ffa575c8c657da6"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aa7d70d10a9c44c2f1ffa575c8c657da6">pcl::registration::FPCSInitialAlignment::FPCSInitialAlignment</a></div><div class="ttdeci">FPCSInitialAlignment()</div><div class="ttdoc">Constructor. Resets the maximum number of iterations to 0 thus forcing an internal computation if not...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_aaf0bead72f8615e1b2a1c95d9fde56e9"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aaf0bead72f8615e1b2a1c95d9fde56e9">pcl::registration::FPCSInitialAlignment::getMaxNormalDifference</a></div><div class="ttdeci">float getMaxNormalDifference() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ab2c4309ae91b6c3bc6f5480cad22ec67"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab2c4309ae91b6c3bc6f5480cad22ec67">pcl::registration::FPCSInitialAlignment::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &amp;output, const Eigen::Matrix4f &amp;guess)</div><div class="ttdoc">Rigid transformation computation method.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ab36ed0e1cc87ec8a08ae2f0bb98025ae"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab36ed0e1cc87ec8a08ae2f0bb98025ae">pcl::registration::FPCSInitialAlignment::getDelta</a></div><div class="ttdeci">float getDelta() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ab3d8c0104ac8609d0339a93eeecc4122"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab3d8c0104ac8609d0339a93eeecc4122">pcl::registration::FPCSInitialAlignment::setMaxComputationTime</a></div><div class="ttdeci">void setMaxComputationTime(int max_runtime)</div><div class="ttdoc">Set the maximum computation time in seconds.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ab46e5073a10bc995892851dacfb08b9b"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab46e5073a10bc995892851dacfb08b9b">pcl::registration::FPCSInitialAlignment::setTargetIndices</a></div><div class="ttdeci">void setTargetIndices(const IndicesPtr &amp;target_indices)</div><div class="ttdoc">Provide a pointer to the vector of target indices.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ab5b94e6b02f11c17f4b10af2c89f6228"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab5b94e6b02f11c17f4b10af2c89f6228">pcl::registration::FPCSInitialAlignment::linkMatchWithBase</a></div><div class="ttdeci">virtual void linkMatchWithBase(const std::vector&lt; int &gt; &amp;base_indices, std::vector&lt; int &gt; &amp;match_indices, pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Sets the correspondences between the base B and the match M by using the distance of each point to th...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:760</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ab96ec3601da6099b68eaf6f717d065c8"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab96ec3601da6099b68eaf6f717d065c8">pcl::registration::FPCSInitialAlignment::getApproxOverlap</a></div><div class="ttdeci">float getApproxOverlap() const</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ab9b80f921aadde46ed70b43f4532d667"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ab9b80f921aadde46ed70b43f4532d667">pcl::registration::FPCSInitialAlignment::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(int nr_threads)</div><div class="ttdoc">Set the number of used threads if OpenMP is activated.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_abb0c5e68f41b871eea5c4a0190801aa3"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#abb0c5e68f41b871eea5c4a0190801aa3">pcl::registration::FPCSInitialAlignment::max_pair_diff_</a></div><div class="ttdeci">float max_pair_diff_</div><div class="ttdoc">Maximal difference between corresponding point pairs in source and target.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:538</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_abc0d762f0db804c6cb9bf920d40cc489"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#abc0d762f0db804c6cb9bf920d40cc489">pcl::registration::FPCSInitialAlignment::setApproxOverlap</a></div><div class="ttdeci">void setApproxOverlap(float approx_overlap)</div><div class="ttdoc">Set the approximate overlap between source and target.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ac34b9f119a6d69a1b7a646bdb8e8dace"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac34b9f119a6d69a1b7a646bdb8e8dace">pcl::registration::FPCSInitialAlignment::selectBase</a></div><div class="ttdeci">int selectBase(std::vector&lt; int &gt; &amp;base_indices, float(&amp;ratio)[2])</div><div class="ttdoc">Select an approximately coplanar set of four points from the source cloud.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:334</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ac421e4c56100d9e5a2355252eb9a3643"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac421e4c56100d9e5a2355252eb9a3643">pcl::registration::FPCSInitialAlignment::segmentToSegmentDist</a></div><div class="ttdeci">float segmentToSegmentDist(const std::vector&lt; int &gt; &amp;base_indices, float(&amp;ratio)[2])</div><div class="ttdoc">Calculate intersection ratios and segment to segment distances of base diagonals.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:482</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ac48c4fb7b4e3dbd410cc016129eb864a"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac48c4fb7b4e3dbd410cc016129eb864a">pcl::registration::FPCSInitialAlignment::small_error_</a></div><div class="ttdeci">const float small_error_</div><div class="ttdoc">Definition of a small error.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:562</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ac63173082b064d29ac50cee964ec930e"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac63173082b064d29ac50cee964ec930e">pcl::registration::FPCSInitialAlignment::validateMatch</a></div><div class="ttdeci">virtual int validateMatch(const std::vector&lt; int &gt; &amp;base_indices, const std::vector&lt; int &gt; &amp;match_indices, const pcl::Correspondences &amp;correspondences, Eigen::Matrix4f &amp;transformation)</div><div class="ttdoc">Validate the matching by computing the transformation between the source and target based on the four...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:814</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ac6ccba63325f96f5e38fc065b0897ea3"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ac6ccba63325f96f5e38fc065b0897ea3">pcl::registration::FPCSInitialAlignment::checkBaseMatch</a></div><div class="ttdeci">int checkBaseMatch(const std::vector&lt; int &gt; &amp;match_indices, const float(&amp;ds)[4])</div><div class="ttdoc">Check if outer rectangle distance of matched points fit with the base rectangle.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:707</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ad40457d6fb0195815064f07bb391bdb8"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad40457d6fb0195815064f07bb391bdb8">pcl::registration::FPCSInitialAlignment::max_runtime_</a></div><div class="ttdeci">int max_runtime_</div><div class="ttdoc">Maximum allowed computation time in seconds (standard = 0 =&gt; ~unlimited).</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:505</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_ad781377604c1837191309b7e2d7f21be"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#ad781377604c1837191309b7e2d7f21be">pcl::registration::FPCSInitialAlignment::score_threshold_</a></div><div class="ttdeci">float score_threshold_</div><div class="ttdoc">Score threshold to stop calculation with success. If not set by the user it is equal to the approxima...</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:496</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_aec7f1feeb435aa54f101d2e7bbd72f21"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#aec7f1feeb435aa54f101d2e7bbd72f21">pcl::registration::FPCSInitialAlignment::setDelta</a></div><div class="ttdeci">void setDelta(float delta, bool normalize=false)</div><div class="ttdoc">Set the constant factor delta which weights the internally calculated parameters.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_f_p_c_s_initial_alignment_html_af9a399e9cc72e413f9ce769ce4896e10"><div class="ttname"><a href="classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html#af9a399e9cc72e413f9ce769ce4896e10">pcl::registration::FPCSInitialAlignment::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">Internal computation initialization.</div><div class="ttdef"><b>Definition:</b> ia_fpcs.hpp:232</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_matching_candidate_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_matching_candidate.html">pcl::registration::MatchingCandidate</a></div><div class="ttdoc">Container for matching candidate consisting of</div><div class="ttdef"><b>Definition:</b> matching_candidate.h:56</div></div>
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